1 files changed, 238 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp
new file mode 100644
index 0000000..1fb98ad
--- /dev/null
+++ b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp
@@ -0,0 +1,238 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Test for cylinder vs sphere, by Bram Stolk
+
+#include <ode/config.h>
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+
+static dBodyID cylbody;
+static dGeomID cylgeom;
+
+static dBodyID sphbody;
+static dGeomID sphgeom;
+
+static dJointGroupID contactgroup;
+static dGeomID world_mesh;
+
+static bool show_contacts = true;
+
+#define CYLRADIUS    0.6
+#define CYLLENGTH    2.0
+#define SPHERERADIUS 0.5
+
+    
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawLine dsDrawLineD
+#endif
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  assert(o1);
+  assert(o2);
+
+  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+  {
+    fprintf(stderr,"testing space %p %p\n", o1,o2);
+    // colliding a space with something
+    dSpaceCollide2(o1,o2,data,&nearCallback);
+    // Note we do not want to test intersections within a space,
+    // only between spaces.
+    return;
+  }
+
+  const int N = 32;
+  dContact contact[N];
+  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+  if (n > 0) 
+  {
+    for (int i=0; i<n; i++) 
+    {
+      contact[i].surface.mode = 0;
+      contact[i].surface.mu = 50.0; // was: dInfinity
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
+      if (show_contacts) 
+      {
+        dMatrix3 RI;
+        dRSetIdentity (RI);
+        const dReal ss[3] = {0.12,0.12,0.12};
+        dsSetColorAlpha (0,0,1,0.5);
+        dsDrawBox (contact[i].geom.pos,RI,ss);
+        dReal *pos  = contact[i].geom.pos;
+        dReal depth = contact[i].geom.depth;
+        dReal *norm = contact[i].geom.normal;
+        dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
+        dsSetColorAlpha (1,1,1,1);
+        dsDrawLine (contact[i].geom.pos, endp);
+      }
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  static float xyz[3] = {-8,-9,3};
+  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  switch (cmd) 
+  {
+    case ' ':
+      break;
+  }
+}
+
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dSpaceCollide (space,0,&nearCallback);
+  if (!pause)
+  {
+    dWorldQuickStep (world, 0.01); // 100 Hz
+  }
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColorAlpha (1,1,0,0.5);
+
+  const dReal *CPos = dBodyGetPosition(cylbody);
+  const dReal *CRot = dBodyGetRotation(cylbody);
+  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
+  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
+  dsDrawCylinder
+  (
+    cpos,
+    crot,
+    CYLLENGTH,
+    CYLRADIUS
+  ); // single precision
+
+  const dReal *SPos = dBodyGetPosition(sphbody);
+  const dReal *SRot = dBodyGetRotation(sphbody);
+  float spos[3] = {SPos[0], SPos[1], SPos[2]};
+  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
+  dsDrawSphere
+  (
+    spos,
+    srot,
+    SPHERERADIUS
+  ); // single precision
+}
+
+
+int main (int argc, char **argv)
+{
+  dMass m;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = "../../drawstuff/textures";
+  if(argc==2)
+    fn.path_to_textures = argv[1];
+
+  // create world
+  dInitODE();
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-9.8);
+  dWorldSetQuickStepNumIterations (world, 32);
+
+  dCreatePlane (space,0,0,1, 0.0);
+
+  cylbody = dBodyCreate (world);
+  dQuaternion q;
+#if 0
+  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+#else
+//  dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
+  dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
+#endif
+  dBodySetQuaternion (cylbody,q);
+  dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
+  dBodySetMass (cylbody,&m);
+  cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
+  dGeomSetBody (cylgeom,cylbody);
+  dBodySetPosition (cylbody, 0, 0, 3);
+  dSpaceAdd (space, cylgeom);
+
+  sphbody = dBodyCreate (world);
+  dMassSetSphere (&m,1,SPHERERADIUS);
+  dBodySetMass (sphbody,&m);
+  sphgeom = dCreateSphere(0, SPHERERADIUS);
+  dGeomSetBody (sphgeom,sphbody);
+  dBodySetPosition (sphbody, 0, 0, 5.5);
+  dSpaceAdd (space, sphgeom);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupEmpty (contactgroup);
+  dJointGroupDestroy (contactgroup);
+
+  dGeomDestroy(sphgeom);
+  dGeomDestroy (cylgeom);
+
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
+